CN112527941A - Personnel accurate positioning track reduction algorithm based on PgRouting graph calculation - Google Patents
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Abstract
A personnel accurate positioning track reduction algorithm based on PgRouting graph calculation comprises the following steps: s1, constructing an underground three-dimensional model and a roadway engineering topological relation based on a Pgrouting topological calculation function pgr _ createTopolar according to the wire point data; s2, collecting personnel track data; s3, correcting the motion trail of underground personnel based on a PgYoung space calculation function st _ distance and a PgYoung graph calculation function pgr _ dijkstra according to the constructed three-dimensional model or roadway engineering topological relation and personnel coordinate data; the method is based on the PgRouting graph computing technology, and establishes side data according to the connection relation by taking the coal mine lead points as nodes, so as to establish a spatial topological relation and a three-dimensional model, thereby leading the path planning not to be set in an exhaustive mode in advance, being capable of carrying out track restoration according to the absolute longitude and latitude coordinates of personnel or equipment, and being capable of adapting to the dynamic change of coal and dynamically changing the topological relation.
Description
The technical field is as follows:
the invention relates to a personnel accurate positioning track reduction algorithm based on PgRouting graph calculation.
Background art:
coal mines are areas where humans mine coal resources in coal-rich mining areas, and are generally divided into underground coal mines and opencast coal mines; when the coal bed is far away from the ground surface, a tunnel is excavated to the underground to mine coal, which is a mineworker coal mine; when the coal bed is very close to the earth surface, the coal is generally excavated by directly stripping the earth surface soil layer, namely an open pit coal mine; the vast majority of coal mines in China belong to underground coal mines, and the coal mine range comprises a large area of underground and overground and related facilities. Coal mines are reasonable spaces excavated by humans when excavating geological formations rich in coal, and generally include roadways, wells, excavation faces and the like.
Coal is the most predominant solid fuel, one of the flammable organic rocks. It is formed by that the flourishing plants grown in a certain geologic age are gradually piled up into a thick layer in a proper geologic environment, and are buried in the water bottom or silt, and then are subjected to the natural coalification action in a long geologic age. In the geologic periods of the world, most coal is produced in the stratums of the stone charm, the pilaster, the Jurassic and the third era, which is an important coal-forming era. The carbon content of the coal is generally 46-97%, and the coal is brown to black and has dull to metallic luster. According to the degree of coalification, coal can be classified into peat, lignite, bituminous coal and anthracite. Coal mines are commercially exploited in over 50 countries in the world today. About 53 hundred million 7000 million tonnes of hard coal are produced in one year of the world (estimated 2006); coal mine reserves are stored in most countries of the world and, in terms of production to consumption ratios, the coal mine reserves that have been ascertained are estimated to be reusable for 147 years.
In order to facilitate the running of the mining operation of a coal mine and ensure the safety of the underground personnel of the coal mine, a positioning system for the underground personnel of the coal mine is required to be arranged while the mining operation is carried out, and the real-time position coordinates and the historical track data of the underground personnel are obtained; the coal mine underground personnel positioning system plays an important role in the aspects of restraining production of over-determined personnel, emergency rescue of accidents, leading down-hole duty management, special operation personnel management, preventing personnel from entering a dangerous area, timely discovering personnel who do not ascend a well on time, certificating on-duty management, checking attendance of underground operation personnel and the like; currently, the mainstream coal mine underground personnel positioning system is based on a pre-drawn preset path, namely adjacent positioning devices are connected in a certain mode, then personnel track calculation is carried out according to a preset track and the current device state, most of the system adopts a tree structure, a topological model of the system describes the relationship between graphs by using the numbers of storage points and arc sections, and all possible routes are exhausted; although this method can acquire position coordinates and a motion trajectory, there are the following problems: (1) recalculation is needed when the equipment is displaced or replaced; (2) the device coordinate and roadway topological relation coupling degree is high, professional software technicians are required for operation, and the device coordinate and roadway topological relation coupling degree cannot adapt to dynamic changes of a coal mine; (3) track path calculation outside the preset cannot be performed.
The invention content is as follows:
the embodiment of the invention provides a staff accurate positioning track reduction algorithm based on PgRouting graph calculation, the method is reasonable in design, based on the PgRouting graph calculation technology, coal mine lead points are taken as nodes, side data are constructed according to connection relations, and further a space topological relation and a three-dimensional model are constructed, so that path planning can be carried out without setting in an exhaustive mode in advance, track reduction can be carried out according to absolute longitude and latitude coordinates of staff or equipment, the dynamic change and the dynamic change of the topological relation of coal can be adapted, the existing undirected graph is dynamically changed into a directed graph application mode, the method has obvious advantages in emergency command aspects such as disaster-avoiding route calculation and the like, is accurate and practical, can stably run under abnormal and dangerous conditions, has extremely strong robustness, and solves the problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a personnel accurate positioning track reduction algorithm based on PgRouting graph calculation comprises the following steps:
s1, constructing an underground three-dimensional model and a roadway engineering topological relation based on a Pgrouting topological calculation function pgr _ createTopolar according to the wire point data;
s2, collecting personnel track data;
s3, correcting the motion trail of the underground personnel based on the PgOuting space calculation function st _ distance and the PgOuting graph calculation function pgr _ dijkstra according to the constructed three-dimensional model or roadway engineering topological relation and the personnel coordinate data.
According to the wire point data, the method for constructing the underground three-dimensional model and the roadway engineering topological relation based on the PgYoung topology calculation function pgr _ createTopolar comprises the following steps:
s1.1, extracting wire point coordinates one by one according to a roadway according to a mining engineering plan, and creating a topological table to store wire point coordinate data calculated by the map;
s1.2, filling source vertex coordinates and target vertex coordinates according to roadway and wire point coordinate data;
s1.3, constructing a line segment according to the source vertex coordinates and the target vertex coordinates to calculate the length, and filling a cost field;
s1.4, calling a Pgrouding topology calculation function pgr _ createTopolar to fill the topology table so as to construct an underground three-dimensional model and a roadway engineering topology relation.
The method for collecting the personnel trajectory data comprises the following steps:
s2.1, providing a data generation tool, and connecting the data generation tool with a master and standby machine server of the personnel positioning system;
s2.2, generating an exchange file conforming to a standard format according to the change condition of the personnel data;
s2.3, generating personnel track data with three-dimensional coordinates according to the personnel moving condition;
s2.4, erecting a data acquisition server, intercepting the exchange file by using the flash, extracting data to a middleware server for data caching, and pushing the data to a front-end GIS and a big data platform.
According to the constructed three-dimensional model or roadway engineering topological relation and personnel coordinate data, the method for correcting the motion trail of underground personnel based on the Pgwrapping space calculation function st _ distance and the Pgwrapping graph calculation function pgr _ dijkstra comprises the following steps:
s3.1, solving a topological node closest to the personnel starting coordinate data according to the personnel starting coordinate data and a spatial calculation function st _ distance of PgOuting;
s3.2, calling a graph calculation function pgr _ dijkstra of Pgrouting, and solving all topological nodes in the path according to the source vertex coordinates and the target vertex coordinates;
and S3.3, constructing path routes according to the coordinates of all path topological nodes, comparing the personnel start coordinate data and the personnel end coordinate data of the personnel track, and intercepting the path routes by combining the constructed three-dimensional model or the roadway engineering topological relation for correction.
At least field names, types and descriptions are included in the topology table.
By adopting the structure, the corresponding topological table is created through a plurality of wire point coordinates in the roadway to store wire point coordinate data; constructing a line segment through the source vertex coordinates and the target vertex coordinates to calculate the length, and constructing a three-dimensional module and a roadway engineering topological relation by matching with a called topological calculation function; acquiring personnel trajectory data through a data acquisition server, an application server, a middleware server and a data generation tool; all topological nodes in the path are obtained through a source vertex coordinate and target vertex coordinate set graph calculation function, the path route is constructed according to the coordinates of all the path topological nodes, the path route is intercepted and corrected by combining the constructed three-dimensional model or the roadway engineering topological relation according to the personnel starting coordinate data and the personnel ending coordinate data of the personnel track, and the method has the advantages of being strong in anti-interference capability, accurate and practical.
Description of the drawings:
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2 is a flowchart illustrating step S1 according to the present invention.
Fig. 3 is a flowchart illustrating step S2 according to the present invention.
Fig. 4 is a flowchart illustrating step S3 according to the present invention.
Fig. 5 is a schematic structural diagram of a topology table according to the present invention.
Fig. 6 is a schematic diagram of the correction of the trajectory data of the person according to the present invention.
Fig. 7 is a schematic structural diagram of the person trajectory data acquired by the present invention.
The specific implementation mode is as follows:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
As shown in fig. 1-6, a human precise positioning trajectory reduction algorithm based on pgrouding diagram calculation, the algorithm comprising the steps of:
s1, constructing an underground three-dimensional model and a roadway engineering topological relation based on a Pgrouting topological calculation function pgr _ createTopolar according to the wire point data;
s2, collecting personnel track data;
s3, correcting the motion trail of the underground personnel based on the PgOuting space calculation function st _ distance and the PgOuting graph calculation function pgr _ dijkstra according to the constructed three-dimensional model or roadway engineering topological relation and the personnel coordinate data.
According to the wire point data, the method for constructing the underground three-dimensional model and the roadway engineering topological relation based on the PgYoung topology calculation function pgr _ createTopolar comprises the following steps:
s1.1, extracting wire point coordinates one by one according to a roadway according to a mining engineering plan, and creating a topological table to store wire point coordinate data calculated by the map;
s1.2, filling source vertex coordinates and target vertex coordinates according to roadway and wire point coordinate data;
s1.3, constructing a line segment according to the source vertex coordinates and the target vertex coordinates to calculate the length, and filling a cost field;
s1.4, calling a Pgrouding topology calculation function pgr _ createTopolar to fill the topology table so as to construct an underground three-dimensional model and a roadway engineering topology relation.
The method for collecting the personnel trajectory data comprises the following steps:
s2.1, providing a data generation tool, and connecting the data generation tool with a master and standby machine server of the personnel positioning system;
s2.2, generating an exchange file conforming to a standard format according to the change condition of the personnel data;
s2.3, generating personnel track data with three-dimensional coordinates according to the personnel moving condition;
s2.4, erecting a data acquisition server, intercepting the exchange file by using the flash, extracting data to a middleware server for data caching, and pushing the data to a front-end GIS and a big data platform.
According to the constructed three-dimensional model or roadway engineering topological relation and personnel coordinate data, the method for correcting the motion trail of underground personnel based on the Pgwrapping space calculation function st _ distance and the Pgwrapping graph calculation function pgr _ dijkstra comprises the following steps:
s3.1, solving a topological node closest to the personnel starting coordinate data according to the personnel starting coordinate data and a spatial calculation function st _ distance of PgOuting;
s3.2, calling a graph calculation function pgr _ dijkstra of Pgrouting, and solving all topological nodes in the path according to the source vertex coordinates and the target vertex coordinates;
and S3.3, constructing path routes according to the coordinates of all path topological nodes, comparing the personnel start coordinate data and the personnel end coordinate data of the personnel track, and intercepting the path routes by combining the constructed three-dimensional model or the roadway engineering topological relation for correction.
At least field names, types and descriptions are included in the topology table.
The working principle of the personnel accurate positioning track reduction algorithm based on PgRouting figure calculation in the embodiment of the invention is as follows: the method is based on PgRouting graph calculation technology, takes coal mine lead points as nodes, constructs side data according to connection relations, and further constructs a space topological relation and a three-dimensional model, so that path planning is not required to be set in an exhaustive mode in advance, track restoration can be performed according to absolute longitude and latitude coordinates of personnel or equipment, the method can adapt to dynamic change of coal and dynamic change of topological relation, dynamically change the existing undirected graph into a directed graph application mode, has obvious advantages in emergency command aspects such as disaster-avoiding route calculation and the like, is accurate and practical, can stably run under abnormal and dangerous conditions, has strong robustness, path track planning is not required to be set in an exhaustive mode in advance, algorithms such as specific track data restoration and the like are not dependent on a certain system, and track restoration can be performed according to the absolute longitude and latitude coordinates of the personnel or the equipment.
In the overall scheme, the method is mainly divided into three steps: s1, constructing a topological relation between the underground three-dimensional model and the roadway engineering; s2, collecting personnel track data; and S3, correcting the motion trail of the underground personnel.
In the construction of an underground three-dimensional model and a roadway engineering topological relation, firstly, extracting wire point coordinates one by one according to a mining engineering plan according to a roadway to establish a corresponding topological table and store all wire point coordinate data; specifically, the topological table at least comprises three parameters of field name, type and description, so that the topological table is convenient for workers to check; and then, organizing lead point data according to the roadway to fill the source vertex coordinate and the target vertex coordinate, constructing a line segment calculation length according to the source vertex coordinate and the target vertex coordinate, filling a cost field, calling a PgGrounting topology calculation function pgr _ createTopolar, filling a topology table, and building a well-roadway engineering topology relation and a three-dimensional model.
In the process of collecting the personnel track data, a data generating tool is additionally arranged in the personnel positioning system, the tool can be connected with a main machine server and a standby machine server of the personnel positioning system, and an exchange file meeting the standard format requirement is generated according to the personnel data change condition. The accurate positioning system can generate track data with three-dimensional coordinates according to the movement condition of the personnel; and erecting a data acquisition server, and intercepting the exchange file by using the Flume. And after the exchange file is generated every 10 seconds, extracting the message content to Kafka message middleware for data caching. Meanwhile, data is pushed to a front-end GIS and a big data solution for persistence.
Preferably, the field industrial data often causes the phenomena of positioning personnel track data repetition, error, track middle data loss and the like due to the objective reasons of incomplete installation coverage, damage of offline and the like of the positioning base station; therefore, the personnel trajectory data needs to be cleaned, deduplicated, aligned and the like during acquisition.
In the process of correcting the motion trail of underground personnel, the personnel position in the personnel trail is longitude and latitude and elevation data of a Beijing 54 coordinate system pushed by an accurate positioning system. The human model needs to be moved in an animation mode according to the coordinate data pushed twice. Because the person position coordinates are random, several steps are required: s3.1, solving a topological node closest to the personnel starting coordinate data according to the personnel starting coordinate data and a spatial calculation function st _ distance of PgOuting; s3.2, calling a graph calculation function pgr _ dijkstra of Pgrouting, and solving all topological nodes in the path according to the source vertex coordinates and the target vertex coordinates; and S3.3, constructing path routes according to the coordinates of all path topological nodes, comparing the personnel start coordinate data and the personnel end coordinate data of the personnel track, and intercepting the path routes by combining the constructed three-dimensional model or the roadway engineering topological relation for correction.
As shown in fig. 6, four wire point data D1-D4 are arranged in the roadway, and the coordinate data P1 and P2 are pushed 2 times at a bit interval of 10 seconds for the personnel, wherein the coordinate data P1 is the personnel start coordinate data, and the coordinate data P2 is the personnel end coordinate data; rendering according to data from P1 directly to P2, combined with a three-dimensional model, is clearly not in accordance with reality.
Therefore, the path track of the underground personnel needs to be restored and corrected, namely, the D2 and D3 coordinate data with middle missing are filled up to construct the track coordinate data of P1-D2-D3-P2, so that the underground personnel can move according to the corrected route.
According to the same principle, the trace coordinate data can be corrected by a plurality of lead point data, and the personnel trace data loss has strong robustness. The error between the average GIS personnel position display and the actual position does not exceed 0.3 m, and the real-time requirement is met.
Preferably, the algorithm can dynamically change the topological relation by maintaining the attributes of cost, reverse _ cost and the like between the two nodes, for example, after sealing or local catastrophe occurs, the dynamic topological relation can be calculated, the conventional undirected graph is dynamically changed into a directed graph application mode, and the algorithm also has obvious advantages in emergency command aspects such as disaster-avoiding route calculation and the like.
To sum up, the accurate positioning track reduction algorithm for personnel based on pgrouding diagram calculation in the embodiment of the present invention is based on pgrouding diagram calculation technology, and uses coal mine wire points as nodes, and constructs side data according to connection relationships, and further constructs spatial topological relationships and three-dimensional models, so that the path planning can be performed without setting in an exhaustive manner in advance, and the track reduction can be performed according to absolute longitude and latitude coordinates of personnel or equipment, and can adapt to dynamic changes of coal and dynamically change topological relationships, and dynamically change the existing undirected graph into a directed graph application manner, which has obvious advantages in emergency command such as disaster-avoiding route calculation, etc., is accurate and practical, and can be stably operated under abnormal and dangerous conditions, and has strong robustness, the path track planning is not set in an exhaustive manner in advance, and algorithms such as specific track data reduction are not dependent on a certain system, the track restoration can be performed according to the absolute longitude and latitude coordinates of the personnel or the equipment.
The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (5)
1. A personnel accurate positioning track reduction algorithm based on PgRouting graph calculation is characterized by comprising the following steps:
s1, constructing an underground three-dimensional model and a roadway engineering topological relation based on a Pgrouting topological calculation function pgr _ createTopolar according to the wire point data;
s2, collecting personnel track data;
s3, correcting the motion trail of the underground personnel based on the PgOuting space calculation function st _ distance and the PgOuting graph calculation function pgr _ dijkstra according to the constructed three-dimensional model or roadway engineering topological relation and the personnel coordinate data.
2. The PgRouteg diagram calculation-based personnel precise positioning track reduction algorithm according to claim 1, wherein the construction of a downhole three-dimensional model and a roadway engineering topological relation based on a PgRouteg topological calculation function pgr _ createTopolarity according to wire point data comprises the following steps:
s1.1, extracting wire point coordinates one by one according to a roadway according to a mining engineering plan, and creating a topological table to store wire point coordinate data calculated by the map;
s1.2, filling source vertex coordinates and target vertex coordinates according to roadway and wire point coordinate data;
s1.3, constructing a line segment according to the source vertex coordinates and the target vertex coordinates to calculate the length, and filling a cost field;
s1.4, calling a Pgrouding topology calculation function pgr _ createTopolar to fill the topology table so as to construct an underground three-dimensional model and a roadway engineering topology relation.
3. The PgRouting diagram calculation-based personnel precise positioning track reduction algorithm according to claim 1, wherein the step of collecting personnel track data includes the following steps:
s2.1, providing a data generation tool, and connecting the data generation tool with a master and standby machine server of the personnel positioning system;
s2.2, generating an exchange file conforming to a standard format according to the change condition of the personnel data;
s2.3, generating personnel track data with three-dimensional coordinates according to the personnel moving condition;
s2.4, erecting a data acquisition server, intercepting the exchange file by using the flash, extracting data to a middleware server for data caching, and pushing the data to a front-end GIS and a big data platform.
4. The PgGrounting diagram calculation-based personnel precise positioning track reduction algorithm according to claim 1, wherein the step of correcting the movement track of underground personnel according to the constructed three-dimensional model or roadway engineering topological relation and personnel coordinate data based on a PgGrounting space calculation function st _ distance and a PgGrounting diagram calculation function pgr _ dijkstra comprises the following steps:
s3.1, solving a topological node closest to the personnel starting coordinate data according to the personnel starting coordinate data and a spatial calculation function st _ distance of PgOuting;
s3.2, calling a graph calculation function pgr _ dijkstra of Pgrouting, and solving all topological nodes in the path according to the source vertex coordinates and the target vertex coordinates;
and S3.3, constructing path routes according to the coordinates of all path topological nodes, comparing the personnel start coordinate data and the personnel end coordinate data of the personnel track, and intercepting the path routes by combining the constructed three-dimensional model or the roadway engineering topological relation for correction.
5. The PgRouting map calculation-based personnel precise positioning track reduction algorithm according to claim 2, characterized in that: at least field names, types and descriptions are included in the topology table.
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| CN113505858A (en) * | 2021-08-24 | 2021-10-15 | 中煤科工集团重庆研究院有限公司 | Method for identifying underground illegal operation area of coal mine based on massive activity track inversion |
| CN115291166A (en) * | 2022-09-28 | 2022-11-04 | 长沙迪迈数码科技股份有限公司 | Underground high-precision positioning method, device, equipment and storage medium |
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